EP0219000A2 - Sleeving of steam generators - Google Patents
Sleeving of steam generators Download PDFInfo
- Publication number
- EP0219000A2 EP0219000A2 EP86113565A EP86113565A EP0219000A2 EP 0219000 A2 EP0219000 A2 EP 0219000A2 EP 86113565 A EP86113565 A EP 86113565A EP 86113565 A EP86113565 A EP 86113565A EP 0219000 A2 EP0219000 A2 EP 0219000A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper
- tube
- sleeving
- sleeve
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/022—Extracting or inserting relatively long parts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/4935—Heat exchanger or boiler making
- Y10T29/49352—Repairing, converting, servicing or salvaging
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53113—Heat exchanger
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53796—Puller or pusher means, contained force multiplying operator
- Y10T29/5383—Puller or pusher means, contained force multiplying operator having fluid operator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53796—Puller or pusher means, contained force multiplying operator
- Y10T29/53839—Puller or pusher means, contained force multiplying operator having percussion or explosive operator
Definitions
- This invention generally relates to nuclear reactors and has particular relationship to the sleeving of damaged or corroded tubes of a steam generator of a nuclear reactor. Damaged tubes are sleeved by inserting sleeve blanks into the tubes. For insertion, a sleeve blank is mounted on a mandrel. The sleeve blank and mandrel are referred to herein as a "sleeving assembly".
- the tubes of a steam generator are sealed through a tube sheet from the bottom of which a channel head extends. Damaged tubes are accessible for sleeving from within the channel head.
- the channel head may be entered through a manway.
- the region within the channel head is radioactive and it is desired to minimize the exposure of personnel to radioactivity within the channel head during a sleeving operation.
- EPC Application Serial No. 84306623.4 (Publication No. 0139494) for Sleeving of Tubes of Steam Generator and assigned to Westinghouse Electric Corporation is typical of the art.
- the operation in said EPC application demands that personnel be exposed to radioactivity for short intervals within the channel head.
- the channel head is a semi-sphere so that when the periphery of the tube sheet is approached, the channel head provides less and less vertical space for a sleeve-blank insertion operation.
- the Cooper sleeve-blank insertion apparatus, of said EPC application vertical space is of such dimension that the area of the tube sheet over which it can sleeve damaged tubes is restricted.
- ROSA Remote Operated Service Arm
- a ROSA has a plurality of arms between which actuators for moving the arms in different directions are interposed.
- a typical actuator is disclosed in U.S. Patent 4,398,110, Flinchbaugh et al. (herein Flinchbaugh).
- a ROSA of practicable dimensions and structure can manipulate a load of limited weight, typically about 23 kg. (50 pounds). A greater weight might result in deformation of its arms and damage to motors, brakes, tachometers, resolvers, or other parts of the actuators.
- a disadvantage of the prior-art apparatus is that its weight exceeds the weight which can be handled by a ROSA.
- Another object of this invention is to provide a sleeve-insertion apparatus which shall be capable of inserting sleeve blanks into tubes of a steam generator which are located over a greater area of the tube sheet than is within the capability of prior-art sleeve-blank insertion apparatus.
- the weight of the prior art sleeve-insertion apparatus should be reduced such that the area of the tube sheet over which a sleeve blank can be inserted is substantially increased.
- the drive for the sleeving assembly is a hydraulic motor which drives a lead screw.
- the lead screw drives a bracket which carries the sleeving assembly.
- the hydraulic motor, lead screw and bracket contribute materially to the weight of the sleeving apparatus.
- the length of the lead screw and hydraulic motor limit the area of the tube sheet over which sleeve blanks may be inserted into damaged tubes.
- both the hydraulic motor and the lead screw are dispensed with.
- the weight of the sleeving apparatus is thus materially reduced.
- the sleeving assembly is advanced by a gripper which is driven by a fluid cylinder, typically an air cylinder.
- the gripper engages the sleeving assembly to advance the assembly intermediate its ends.
- the vertical space necessary for insertion of a sleeving assembly, including a sleeve blank and a mandrel is governed only by the length of the sleeving assembly that is to be inserted.
- the mandrel is usually longer than the sleeve blank.
- the area of tube sheet over which sleeve blanks may be inserted is thus materially greater than the corresponding area for prior art apparatus.
- the invention in its broad form resides in an apparatus for remotely and automatically inserting a sleeve blank into a damaged tube of a steam generator, the said sleeve blank being mounted on a mandrel, the said sleeve blank and mandrel being referred to herein as "sleeving assembly", the said apparatus including means, connected to said apparatus, for positioning said apparatus for insertion of said sleeve blank into said tube; said apparatus characterized by a first gripper, first means connected to said first gripper for actuating said first gripper to engage and disengage said sleeving assembly; means connected to said first gripper for advancing said first gripper while said apparatus is positioned for insertion between a first position more remote from said tube and a second position nearer said tube; a second gripper; second means, connected to said second gripper, for actuating said second gripper to engage and disengage said sleeving assembly; first means, responsive to said first gripper, when said first gripper is in said first position, for setting
- a preferred embodiment described herein provides apparatus or a tool for inserting a sleeve blank into a damaged tube of a steam generator, which, includes a fixed gripper and a moveable gripper and a fluid cylinder for driving the moveable gripper.
- a sleeving assembly is formed by mounting the sleeve blank on a mandrel. The bladders of the grippers are inflated by air pressure to grasp the sleeving assembly. The apparatus is secured under the tube sheet positioned so that the sleeving assembly is thrust into the damaged tube by upward movement.
- the sleeving assembly is advanced into the tube step-by-step while the moveable gripper, in its lowermost position, repeatedly engages the sleeving assembly and moves it upwardly and then is disengaged from the sleeving assembly and returned to its lowermost position.
- the sleeving assembly is held in its latest position by the fixed gripper until it is engaged to be moved another step by the moveable gripper.
- the fixed gripper engages the sleeving assembly before the fixed gripper is disengaged.
- the mandrel When the sleeve blank is fully inserted and expanded in the damaged tube as a sleeve, the mandrel is removed by the reverse movement of the movable gripper while being held between steps by the fixed gripper.
- the surface of the mandrel varies in contour along its length.
- the bladders, which constitute the holding members of the grippers readily conform to this changing surface.
- the positioning of the sleeving apparatus and of the sleeving assembly is monitored by two closed-circuit TV units.
- the camera of each unit is mounted on the base from which the grippers and the cylinder which drives the grippers are mounted.
- the sleeving apparatus is positioned so that the optical axis of one camera is coaxial with a tube near the damaged tube which is to be sleeved.
- the optical system of the other camera is set at an angle so that the insertion of the sleeve blank into the damaged tube may be monitored.
- Plunger assemblies including plungers which extend upwardly from the base aid in the levelling of the base and the apparatus suspended from it.
- the sleeve-blank insertion apparatus 31 and some of its components are shown predominantly in Figs. 1 through 12.
- This apparatus includes a base plate or top plate 33 (Figs. 1-6), a bottom plate 35 and a back plate 37 secured between the top and bottom plates.
- the base plate 33 is of generally trapezoidal shape but with the longer side tapered and rounded beyond the tapers.
- the back plate 37 is of U-transverse cross-section (Fig. 1) and bolted to the base plate 33 symmetrically with respect to its center line 39 through the parallel sides which divide the base plate into like halves.
- a ROSA adapter 41 is suspended cantilever fashion from the back plate 37 just below the base plate 33.
- the ROSA adapter 41 includes a plate 43 to whose lower or inner surface a connector 45 -(Figs. 15, 16) for connecting the sleeve-blank inserter 31 to the ROSA is provided.
- the plate 43 is braced by beams 47.
- the cylinders 49 of camlock assemblies 51 extend inwardly from the rounded corners near the longer side of the base plate 33.
- the camlock assemblies 51 are each centered about an opening in the base plate 33 through which the rods 53 carrying the camlock collet 55 (Fig. 20) can be projected upwardly into tubes 57 in the tube sheet 59 (Fig. 2) which are near the damaged tube 61 being sleeved.
- the camlock assemblies serve to secure the sleeving apparatus to the tube sheet in position to carry out a sleeving operation.
- a cylinder 63 typically an air cylinder, is secured by a bolt 65 and nut 67 to the base plate 33 and supported by a bracket 69 bolted to the back plate 37.
- a bolt 71 suspended from the piston rod 73 of the cylinder 63 carries a travel plate 75 (Figs. 2, 3).
- Ball bushings 77 are mounted near the outer ends of the travel plate 75. The ball bushings 77 engage guide shafts or guide rods 79.
- the piston rod 73 moves upwardly or downwardly, it carries the travel plate 75 with it.
- the travel plate is guided and supported by the rods 79.
- the cylinder 63 is provided with magnetic reed switches 80 and 82 at its upper and lower ends.
- the piston 84 (Fig. 23) carries paramagnetic elements which operate these switches when the piston moves into the lowermost or uppermost positions (Figs. 3, 23).
- the moveable gripper or gripper assembly 81 is mounted centrally on the travel plate 75 and is carried with this plate as the plate is moved by the cylinder 63.
- the gripper 81 is secured by bolts 83 which are screwed into the bottom of the retainers 85 and 86 (Figs. 7, 8, 8A, 8B) that form the sidewalls of the housing of the gripper 81.
- the bolts 83 pass through the flange 87 of a horn-shaped guide 89 securing the guide coaxially with the gripper 31.
- the guide 89 facilitates the entrance of the sleeving assembly 91 (Fig. 19) into the opening 93 (Fig. 8) of the gripper 81.
- the guide is shown in Fig. 2 in the uppermost position in full lines and in the lowermost position in broken lines.
- the gripper 81 is omitted in the showing of the lowermost position .
- the lower part of the insertion apparatus is provided with a protective shield 94 (Figs. 3, 6).
- the fixed gripper or gripper assembly 95 is suspended from an adapter 97 (Figs. 2, 4).
- the adapter 97 is connected to or may be integral with a plate 99 which is bolted to the base plate.
- the gripper 95 and the adapter 97 have coaxial openings 101 and 103 (Figs. 2, 4) which are coaxial with opening 93 in the moveable gripper 81 so as to pass the sleeving assembly 91.
- the adapter 97 is circularly cylindrical but has a cutout 105 (Fig. 4) to accommodate the optical system 107 and the viewing angle 109 of the TV camera 111 of the closed-circuit TV unit 112 (Fig. 24) which monitors the insertion of the sleeving assembly 91 into the damaged tube 61.
- the TV unit 112 has a monitor 114 (Fig. 24) on which the insertion may be observed.
- the camera 111 is suspended from the base plate 33 at an appropriate angle to the base plate by a bracket 113 bolted to the base plate and to the camera.
- the base plate 33 has an opening 116 (Fig. 1) through which the insertion of the sleeving assembly 91 is viewed by the camera 111.
- the upward projection of the opening 103 (Fig. 1), through which the sleeving assembly 91 is passed during a sleeving operation, passes through the opening 113.
- a light sensor including a light source 115 and photoelectric cell and microswitch 117 are mounted on plate 33 on opposite sides of the upward projection of the opening 103.
- the sleeving apparatus 31 is provided with a second closed-circuit TV unit 131 (Fig. 24).
- the camera 133 (Figs. 1, 2, 3) of the unit 131 is in a cover 135 which is suspended from a lug 137, bolted to the upper part of the U-shaped back plate 37.
- the camera 133 is positioned with its optic axis parallel (vertically in use) to the axis 138 through the openings 93, 101 and 103 through which the sleeving assembly 91 (Fig. 19) passes.
- Coaxial with the optic axis of the camera 133 there is a circular opening 139 (Figs. 1, 24) in the base plate 35.
- the sleeving apparatus may be positioned by aligning the optic axis of the camera 133 with the axis of a tube 141 near the tube 61 being sleeved (Fig. 2).
- the unit 131 includes a monitor 143 (Fig. 24) connected to the camera 133.
- Each assembly 147 includes a plunger 148.
- Each plunger 148 has a flanged stem 149 (Figs. 11, 12) which passes slideably through a bushing 151 in the base plate 33.
- a tapered tip 153 extends from the flange 155 outwardly from the base plate coaxially with the stem 149.
- the stem 149 abuts an arm 157 which carries the slides of a linear potentiometer 158.
- the arm 157 and potentiometer are in a housing 159 suspended from the bottom of the base plate 33.
- the housing 159 has a cap 161 with a central opening through which the plunger 149 extends.
- the slider arm 157 of the potentiometer is encircled by a helical spring 163 which is compressed between the end of the plunger 148 and the top of the potentiometer 158.
- the end of the plunger 148 is engaged by a retaining ring 165.
- the ring 165 engages a lip over the opening in the housing 159 and prevents the plunger 148 from being thrust out of the opening in the housing by the spring 163.
- the potentiometer 158 is carried by a slide 167.
- the slide 167 is slideable in a slot between a base member 168 and a cooperative member 169, both of which extend from the cap 161.
- the initial position of the potentiometer 158 relative to its slides may be set by a screw 170 extending through the bottom of the container.
- the screw can be locked in any position by a nut 172.
- Each plunger assembly 147 has ears 173 by means of which it is bolted to the bottom of base plate 33.
- the plunger assemblies are mounted with the axis of one passing through the center line 39 (Fig. 1) between the parallel sides of the base plate 33 and the axes of the other symmetrical with respect to this center line.
- the sleeving apparatus is raised by the ROSA 177 (Figs. 13, 14) to the position for sleeve insertion, the plunger tips 153 are engaged by the surface of the tube sheet, as shown in broken lines in Figs. 2 and 3, and depressed.
- the resistance of the potentiometer which can be measured with an ohmmeter, varies in accordance with the depression of the plungers 148. By comparing the resistances of the potentiometer 158, the level of the base plate 33 can be determined and adjusted. Typically, the potentiometer should be so calibrated that equal resistances for the potentiometer verifies that the base plate is level, i.e., parallel to the tube sheet 59.
- a guide tube or conduit 181 (Figs. 2, 3) is mounted on the lower surface of the bottom plate 35 coaxially with the moveable gripper 81, the fixed gripper 95 and the adapter 97.
- the conduit 181 serves for the transmission of the sleeving assembly 91.
- a plurality of cord grippers 183 also extend from the lower surface of the bottom plate 35. These cord grippers 183 engage the cables and conduits which are connected to the sleeving apparatus 31 while this apparatus is being positioned by the ROSA 177 and prevent the fouling or rupture of the conduits and cables.
- the connector or coupler 45 (Figs. 3, 15, 16) is a flanged annulus, typically composed of aluminum, having a flange 191 on one side and a flange-like projection 193 on the opposite side (Figs. 15, 16).
- the coupler 45 is secured to plate 43 of the sleeving apparatus 31 by bolts which pass through the flange 191.
- the annulus has thickened sections 195 and 197.
- the connector 45 mates with a corresponding connector or coupler 199 at the end of the ROSA (Fig. 13B).
- the end surface of the coupler 199 is shaped to mate with the end surface of the coupler 45 having projections which penetrate in the regions between the projections 195 and 197.
- the projection 195 carries a pin 201 which penetrates into a hole in the coupler 199 for alignment purposes.
- the coupler 199 is secured to the coupler 45 by bolts 203 (Fig. 16) which are screwed into steel inserts in projections 197.
- the coupler 45 also has an axial projection 205 which penetrates into a groove in coupler 199. After the couplers 45 and 199 are joined, they are secured together by a band 207 (Fig. 13).
- the inner surface of the projection 193 is tapered to facilitate engagement of the strap 207 with the projection.
- the moveable gripper 81 and the fixed gripper 95 are basically alike. Only the moveable gripper 81 will be disclosed here.
- This gripper which may be more aptly referred to as, gripper assembly includes an enclosure formed by abutting the retainers 85 and 86, cage 213 and a bladder 215 (Figs. 7-10).
- the retainers 85 and 86 are composed of aluminum. Each retainer is of generally U-transverse section with the external surface rectangular and the internal surface semicircular.
- the retainers 85 and 86 are bolted together by bolts which are countersunk in bolt holes 217 of retainer 86 and threaded into retainer 86 (Fig. 8A).
- Retainer 85 has a port 219 ( F ig. 8) into which compressed air is injected.
- the retainers 85 and 86 form an assembly which is of square transverse cross-section on the outside and of circular transverse section on the inside.
- circular grooves 221 are machined near the upper and lower ends and a circular groove 223 is machined at the center (Fig. 8B).
- the groove 223 is in communication with the port 219.
- Shallow slots 225 are also machined in the top and bottom of the assembly.
- Annular caps 227 (Fig. 8) are secured to the top and bottom of the assembly 85-86 to form the housing.
- the caps 227 are of angular transverse cross-section with their sides which are parallel to the cylindrical retainer side walls defining inlet and outlet passages.
- the bolts 87 (Fig. 2) which secure the lower cap 227 to the assembly 85-86 also secures the horn-shaped member 89.
- the cage 213 (Figs. 10, 10A) is composed of precipitation-hardened stainless steel.
- the cage has circular rings 231 at the ends and a ring 233 at the center. Longitudinal bars 235 are secured to the rings 231 and 233 spaced by 120° around the rings.
- the bladder 215 (Fig. 9) which is the gripping or clamping member of the gripper assembly is composed of a pliable thermoelastometer, typically a pelethane compound.
- the bladder is of annular shape and has thermoelastomer end rings 237 and projections 239 near its upper and lower ends.
- the housing 85-86-227, cage 213 and bladder 215 are assembled into a unit as shown in Fig. 8.
- the rings 237 are clamped between the top and bottom caps 227 and in the slots 225 of the assembly 85-86.
- the projections 239 are engaged in the grooves 221 of the assembly.
- the bladder 215 extends over the cage 213.
- the groove 223 is between the bladder and the walls of the retainers 85 and 86.
- the volume between the bladder 215 and the inner walls of the retainers 85 and 86 must be pressure tight.
- the projections 239 and the rings 237 are coated internally with a sealing compound before being inserted into the grooves 221.
- the compressed air is injected through port 219 and flows through groove 223 and spreads over the bladder 215 collapsing the bladder onto the sleeving assembly or mandrel gripping the assembly or mandrel. Since the bladder is pliable, it conforms to the gripped surface.
- the ROSA 177 (Figs. 13A, 13B, 14A, 14B) includes in addition to the coupler 199, a plurality of actuators 245 interconnected by arms 247 which manipulate the arms into the desired positions.
- the coupler 199 is connected to an actuator 245 which facilitates its rotational movement.
- the ROSA has a member having a plate 249 on which camlock assemblies 251 are mounted.
- the ROSA 177 is positioned in the channel head 253 (Fig. 19) with its camlocks 255 in engagement with tubes 257 (Fig. 19) in the tube sheet 59 which are located conveniently with respect to the tube or tubes 61 to be sleeved.
- the mandrel 119 (Fig. 17) includes an end cap 261 to which the nose 121 is connected.
- a rosette 263 (Fig. 18) is secured to the inner end of the nose.
- a bladder 265 extends between the end cap 261 and a shank 267 and is sealed pressure tight to both. Additional shanks 269 and 271 extend from the shank 267 to endow the mandrel with the appropriate length.
- Another bladder 273 extends between the shank 271 and a sleeve blank positioner 275. Bladder 273 is sealed pressure tight in the shank 271 and the sleeve-blank positioner 275. The sleeve-blank positioner is stepped.
- the sleeve blank 277 is mounted on the mandrel with the outer end engaging the outermost step 279 of the sleeve-blank positioner.
- the body 281 of the mandrel is penetrated by a hole 283 which terminates within the end cap 261.
- a hose 285 extends from the outer end of the mandrel 119.
- a tube 289 extends through the hose and is connected pressure tight by a fitting 291 to the hole 283. At its outer end, the tube 289 is connected by a fitting 292 to connectors 293 and 295. Water or other liquid under pressure is supplied to the tube 289 and through this tube to the hole 283.
- the fitting (not shown) through which the water is supplied is sealed pressure tight to the connector 295 by 0-rings 297.
- the body 281 has openings 299 at the longitudinal centers of the bladders 265 and 273.
- the shanks 267, 269 and 271 are so selected that when the sleeve blank 277 is fully inserted into the damaged tube 61 (Fig. 2), the bladder 273 is positioned in engagement with the sleeve blank in the tube sheet 59 and the bladder 265 is in engagement with the inner end of the sleeve blank.
- Water under pressure injected into the hole 283 passes through the openings 299 exerting pressure on the sleeve blank 277 at the two positions, through the bladders 265 and 273 and securing the sleeve blanks to the tube 61.
- Each camlock assembly 51 (Fig. 20) includes the circularly cylindrical housing 49.
- the wall of the housing has a longitudinal slot 305 on one side.
- the top 307 of the housing 49 has a shoulder from which a neck or stem 309 extends.
- There is a circular hole in the top which is coaxial with the hole in the top plate 33 (Figs. 1-3) from which the assembly 51 is suspended.
- Lower bearing 313 is interposed between the shoulder and the base plate.
- a dowel pin 315 through the bearing 313 penetrates into the top 307.
- There is also an upper bearing 317 which is urged outwardly by springs 319. The springs facilitate adjustment of the position of each camlock assembly 51 permitting restricted lateral movement.
- the housing end cap 323 at the lower end is dish-shaped, is supported on a retainer ring 325 just above the lower rim of the wall 349 and is secured by a screw 327.
- the end cap 323 has a circular hole which is coaxial with the hole in the top 307.
- Cylinder 335 is mounted on main piston 31 and is moveable therewith.
- Auxiliary piston 333 is moveable relative to main piston 331.
- Cylinder 335 has a top 337 which has a circular hole coaxial with the hole through the top 307 of the housing 49.
- the rod 53 which carries the gripper collet 55 at the top has a flange 339 which is bolted to the top 337.
- the rod 53 is hollow.
- a rod 341 tapered at the tip 342 extends centrally from the auxiliary cylinder 333 passing through the top 337 and the rod 53.
- the main piston 331 is prevented from becoming disengaged from the wall 343 of the cylinder 335 by a retaining ring 345.
- the main piston 331 engages the wall 343 in a shoulder 347.
- the wall 343 has a ring bearing. 349 near its lower end. This bearing is interposed between the wall 343 and the wall 45 of the camlock assembly 51.
- O-rings 351, 353, 355 are interposed between the main piston 331 and the wall 343 of cylinder 335, the auxiliary piston 333 and the wall 343, and the rod 341 and the cap 337 of the cylinder 335.
- the piston assembly 331-333 is driven by a cylinder 357.
- the piston rod 359 of cylinder 357 has a threaded tip 361 which is threaded centrally into the main cylinder 331 and secured by a nut 363.
- the upward (with respect to Fig. 20) thrust of the rod 359 advances the piston assembly 331-333.
- the piston 333 is moveable towards and away from piston 331.
- the piston 364 (Fig. 21) of cylinder 357 has a paramagnetic member (not shown).
- the cylinder 357 carries magnetic reed switches 365 and 367 which are actuable by the paramagnetic member at its extreme up and down positions.
- the switches 365 and 367 are connected to the control computer 368 (Figs. 21, 22, 23) which controls the sleeving operation and sends intelligence to the computer of the position of the piston 364.
- the cylinder 357 is supplied with compressed air to drive piston 364 upwardly.
- the compressed air is supplied through a connector 369 and a nipple 371 which are interconnected through an adapter 373. Air is supplied to drive piston 364 downwardly through elbow fitting 375.
- air is exhausted from elbow fitting 375 and when piston 364 is driven downwardly, air is exhausted from nipple 371, adapter 373 and connector 369.
- Compressed air to drive piston 333 upwardly in cylinder 335 separately from piston 331 is supplied through elbow fitting 377 and to return piston 333 downwardly through elbow fitting 379.
- air is exhausted from fitting 379 and when piston 333 is driven downwardly, air is exhausted from fitting 377.
- the fittings are inserted in housing 49 through slot 305 and are moveable upwardly and downwardly in this slot.
- camlock assemblies 51 For controlling the direction and magnitude of the airflow into the cylinders 335 and 357, there are associated with each camlock assembly solenoid-actuated flow switches 381 and 383 and pilot pressure-actuated valve 385.
- Switch 381 controls the flow to cylinder 357, which drives the piston assembly 331-333, through an adjustable regulator 387.
- the regulator 387 maintains the pressure in cylinder 357 at a low magnitude typically between 15 and 20 psi so that the piston 364 and the piston assembly 331-335 is advanced slowly into tube 57.
- Switches 383 and 385 control the flow from a high-pressure source, typically 200 psi, to cylinder 335 which drives rod 341 to set the gripper 53 (Fig. 20) in the locked or the unlocked setting.
- the apparatus is set as shown in Fig. 21 with the pistons 357, 331 and 333 of each camlock assembly retracted, and switches 381 and 383, and pressure actuated valve 385 set to supply air above the pistons.
- the sleeving apparatus 31 (Figs. 1, 2, 3) is positioned for a sleeving operation into a damaged tube 61 and a start push button 389 is closed.
- Solenoid switch 381 is set in the left-hand setting and air flows into cylinder 357 below piston 364 through the switch 381, through conductor 391, and regulator 387. Air is exhausted from cylinder 357 above piston 364 through conductor 393.
- switch 383 and pressure-actuated valve 385 are in their standby settings.
- Piston 364 is raised and it raises piston assembly 331-333. Piston 364 rises until it actuates reed switch 365.
- Switch 383 is set in the right-hand setting. Air flows into valve 385 through conductor 395 and out through conductor 397. When the pressure reaches an appropriate magnitude, pressure switch 399 is actuated, switch 383 is set in the left-hand setting and high pressure is supplied to piston 335, the air flowing in through conductors 397 and 401 and exhausting through conductors 403.
- the collet 55 is operated to lock the camlock to tube 57..
- Each camlock assembly 51 remains in the operated setting with the camlocks locked to their associated tubes 57. To unlock the camlocks, the above-described procedure is reversed.
- each gripper 81 and 95 is controlled by a solenoid air switch 411 and 413.
- the airflow in each case is regulated by regulators 415 and 417.
- the apparatus is shown in standby with solenoids 411 and 413 set to the left.
- the flow through cylinder 63 is controlled by solenoid switches 421 and 423.
- the air flows through adjustable regulators 425 and 427 and flow restrictors or check valves 429 and 431.
- the regulator 425 which controls the flow to advance the piston 84 is typically set at between 50 and 55 psi; the regulator 427 which controls the flow to retract the piston 84 is set typically at between 60 and 65 psi. The reason the retracted pressure is higher than the insertion pressure is to provide additional force for removing the sleeving assembly if it encounters an obstruction in the tube.
- switches 421 and 423 are set to the left.
- the piston 84 is set in the lowermost position with reference to Fig. 3 (to the right with reference to Fig. 23) and moveable gripper 81 is in the lowermost position.
- Switches 411 and 413 are set to the left as shown.
- the sleeving apparatus 31 has been secured to ROSA 177 (Figs. 11, 12) and has been drawn into the channel head 253.
- the TV units 112 and 131 are on and the light 141 is on.
- the sleeving assembly 91 (Fig. 19) is inserted.
- the apparatus or tool 31 is centered with the aid of the closed circuit TV units, particularly unit 131 (Fig. 24).
- the camlock assemblies 51 are inserted and locked.
- the sleeving assembly 91 (Fig. 19) extends into the moveable gripper 81 in the lowermost position.
- the start push button 419 is actuated.
- the computer 368 causes switch 411 to be set to the right.
- the moveable gripper 81 grips sleeve blank assembly 91.
- switches 421 and 423 are set to the right by command of the computer 368. Air flows in through switch 423 and conductor 443 and out through conductor 441 and switch 421 to advance the piston 84, gripper 81 and sleeving assembly 91.
- piston 84 reaches the uppermost position with reference to Fig. 3 (to the right with reference to Fig 23), reed switch 80 is actuated and the computer 368 commands switch 413 to move to the right.
- the computer commands switch 411 to move to the left.
- the air is exhausted from moveable gripper 81 and this gripper disengages the sleeving assembly.
- the computer 368 commands switches 423 and 421 to move to the left.
- the piston 84 is returned to the lowermost position (left Fig. 3) carrying the moveable gripper 81 with it.
- the above steps are then repeated until the sleeve blank is fully inserted into tube 61. Pressure is then applied through nose 289 (Fig. 19) and bladder 265 and to 273 and the sleeving proceeds.
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Abstract
Description
- This invention generally relates to nuclear reactors and has particular relationship to the sleeving of damaged or corroded tubes of a steam generator of a nuclear reactor. Damaged tubes are sleeved by inserting sleeve blanks into the tubes. For insertion, a sleeve blank is mounted on a mandrel. The sleeve blank and mandrel are referred to herein as a "sleeving assembly".
- The tubes of a steam generator are sealed through a tube sheet from the bottom of which a channel head extends. Damaged tubes are accessible for sleeving from within the channel head. The channel head may be entered through a manway. The region within the channel head is radioactive and it is desired to minimize the exposure of personnel to radioactivity within the channel head during a sleeving operation.
- EPC Application Serial No. 84306623.4 (Publication No. 0139494) for Sleeving of Tubes of Steam Generator and assigned to Westinghouse Electric Corporation is typical of the art. However, the operation in said EPC application demands that personnel be exposed to radioactivity for short intervals within the channel head. There is an additional drawback in that the channel head is a semi-sphere so that when the periphery of the tube sheet is approached, the channel head provides less and less vertical space for a sleeve-blank insertion operation. The Cooper sleeve-blank insertion apparatus, of said EPC application vertical space is of such dimension that the area of the tube sheet over which it can sleeve damaged tubes is restricted.
- There has become available a robotic manipulator tool which is referred to as Remote Operated Service Arm or ROSA. In the process of creating this invention, it has been realized that ROSA can be loaded with sleeving apparatus or a sleeving tool externally of the channel head and may then be controlled, from a control station outside of the channel head, so that it moves the tool into the channel head and positions the tool for a sleeving operation. The insertion into the channel head and sleeving operation of the tool may then be controlled from a station external to the channel head. By external control of the tool, the mandrel may then be withdrawn preparatory to another sleeving operation.
- A ROSA has a plurality of arms between which actuators for moving the arms in different directions are interposed. A typical actuator is disclosed in U.S. Patent 4,398,110, Flinchbaugh et al. (herein Flinchbaugh). A ROSA of practicable dimensions and structure can manipulate a load of limited weight, typically about 23 kg. (50 pounds). A greater weight might result in deformation of its arms and damage to motors, brakes, tachometers, resolvers, or other parts of the actuators. A disadvantage of the prior-art apparatus is that its weight exceeds the weight which can be handled by a ROSA.
- It is an object of this invention to overcome the drawbacks and disadvantages of the prior art and to provide apparatus or a tool for inserting a sleeve blank into a damaged tube of a steam generator of a nuclear reactor, or into a tube of any other like tubular apparatus, which tool shall be capable of being manipulated by a ROSA of reasonable weight, dimensions and structure. Specifically, it is an object of this invention to provide sleeve-blank insertion apparatus having a total weight of less than about 23 kg. (50 pounds). Another object of this invention is to provide a sleeve-insertion apparatus which shall be capable of inserting sleeve blanks into tubes of a steam generator which are located over a greater area of the tube sheet than is within the capability of prior-art sleeve-blank insertion apparatus.
- It is also an object of this invention to provide a method for inserting a sleeve blank into a damaged tube of a steam generator wherein the disadvantages of the prior art shall be eliminated.
- It has been realized the weight of the prior art sleeve-insertion apparatus should be reduced such that the area of the tube sheet over which a sleeve blank can be inserted is substantially increased. In one prior art apparatus, the drive for the sleeving assembly is a hydraulic motor which drives a lead screw. The lead screw, in turn, drives a bracket which carries the sleeving assembly. The hydraulic motor, lead screw and bracket contribute materially to the weight of the sleeving apparatus. The length of the lead screw and hydraulic motor limit the area of the tube sheet over which sleeve blanks may be inserted into damaged tubes.
- In accordance with this invention, both the hydraulic motor and the lead screw are dispensed with. The weight of the sleeving apparatus is thus materially reduced. The sleeving assembly is advanced by a gripper which is driven by a fluid cylinder, typically an air cylinder. The gripper engages the sleeving assembly to advance the assembly intermediate its ends. The vertical space necessary for insertion of a sleeving assembly, including a sleeve blank and a mandrel, is governed only by the length of the sleeving assembly that is to be inserted. The mandrel is usually longer than the sleeve blank. The area of tube sheet over which sleeve blanks may be inserted is thus materially greater than the corresponding area for prior art apparatus.
- The invention in its broad form resides in an apparatus for remotely and automatically inserting a sleeve blank into a damaged tube of a steam generator, the said sleeve blank being mounted on a mandrel, the said sleeve blank and mandrel being referred to herein as "sleeving assembly", the said apparatus including means, connected to said apparatus, for positioning said apparatus for insertion of said sleeve blank into said tube; said apparatus characterized by a first gripper, first means connected to said first gripper for actuating said first gripper to engage and disengage said sleeving assembly; means connected to said first gripper for advancing said first gripper while said apparatus is positioned for insertion between a first position more remote from said tube and a second position nearer said tube; a second gripper; second means, connected to said second gripper, for actuating said second gripper to engage and disengage said sleeving assembly; first means, responsive to said first gripper, when said first gripper is in said first position, for setting said second actuating means to actuate said second gripper to disengage said sleeving assembly and to set said first actuating means to actuate said first gripper to engage said sleeving assembly and thereafter to actuate said advancing means to advance said first gripper and said sleeving assembly from said first position to said second position; and second means, responsive to said first gripper when said first gripper is in said second position, for setting said second actuating means to actuate said second gripper to engage said sleeving assembly and to set said first actuating means to actuate said first gripper to disengage said sleeving assembly and thereafter to actuate said advancing means to retract said first gripper to said first position.
- A preferred embodiment described herein provides apparatus or a tool for inserting a sleeve blank into a damaged tube of a steam generator, which, includes a fixed gripper and a moveable gripper and a fluid cylinder for driving the moveable gripper. A sleeving assembly is formed by mounting the sleeve blank on a mandrel. The bladders of the grippers are inflated by air pressure to grasp the sleeving assembly. The apparatus is secured under the tube sheet positioned so that the sleeving assembly is thrust into the damaged tube by upward movement. The sleeving assembly is advanced into the tube step-by-step while the moveable gripper, in its lowermost position, repeatedly engages the sleeving assembly and moves it upwardly and then is disengaged from the sleeving assembly and returned to its lowermost position. Between upward strokes of the moveable gripper, the sleeving assembly is held in its latest position by the fixed gripper until it is engaged to be moved another step by the moveable gripper. At the end of each upward movement step, the fixed gripper engages the sleeving assembly before the fixed gripper is disengaged.
- When the sleeve blank is fully inserted and expanded in the damaged tube as a sleeve, the mandrel is removed by the reverse movement of the movable gripper while being held between steps by the fixed gripper. The surface of the mandrel varies in contour along its length. However, the bladders, which constitute the holding members of the grippers, readily conform to this changing surface.
- In the absence of personnel in the channel head, the positioning of the sleeving apparatus and of the sleeving assembly is monitored by two closed-circuit TV units. The camera of each unit is mounted on the base from which the grippers and the cylinder which drives the grippers are mounted. Preparatory to an insertion operation, the sleeving apparatus is positioned so that the optical axis of one camera is coaxial with a tube near the damaged tube which is to be sleeved. The optical system of the other camera is set at an angle so that the insertion of the sleeve blank into the damaged tube may be monitored. Plunger assemblies including plungers which extend upwardly from the base aid in the levelling of the base and the apparatus suspended from it.
- A more detailed understanding of the invention may be had from the following description of a preferred embodiment, given by way of example and to be studied in conjunction with the accompanying drawing wherein:
- Fig. 1 is a plan view of the. sleeving apparatus in accordance with this invention and which serves in the practice of the method of this invention as viewed from the direction I of Fig. 2, i.e., from the top;
- Fig. 2 is a view in side elevation taken in the direction II of Fig. 1;
- Fig. 3 is a view in end elevation taken in the direction III of Fig. 1;
- Fig. 4 is a fragmental view partly in section taken in the direction IV of Fig. 1 and showing particularly the camera of the TV unit which monitors the insertion of a sleeve blank;
- Fig. 5 is a fragmental view in longitudinal section along line V-V of Fig. 1 showing the light assembly which illuminates the areas viewed by the TV cameras;
- Fig. 6 is a fragmental view in side elevation taken in the direction VI of Fig. 3;
- Fig. 7 is a plan view of the moveable gripper; the fixed gripper, being similar except for minor details, is not shown or described in detail;
- Fig. 8 is a view in longitudinal section taken along line VIII-VIII of Fig. 7;
- Fig. 8A is a plan view of the retainer for the gripping mechanism of the moveable gripper;
- Fig. 8B is a view in longitudinal section taken along line VIIIB-VIIIB of Fig. 8A;
- Fig. 9 is a view in longitudinal section of the gripping bladder of the moveable gripper;
- Fig. 10 is a view in side elevation of the cage over which the gripping bladder extends;
- Fig. 10A is a view in transverse section taken along line XA-XA of Fig. 10;
- Fig. 11 is a view in longitudinal section of a plunger assembly which serves to position the sleeve-blank inserting apparatus;
- Fig. 12 is a view in transverse section taken along line XII-XII of Fig. 11;
- Figs. 13A and 13B together constitute a plan view of a typical ROSA used in the practice of this invention;
- Figs. 14A and 14B together constitute a view in side elevation taken in the direction XIVA-XIVB of Fig. 13;
- Fig. 15 is a view in end elevation of the connector on the sleeve-blank insertion apparatus for connecting to the ROSA;
- Fig. 16 is a view in transverse section taken along line XVI-XVI of Fig. 15;
- Fig. 17 is a view in side elevation, and partly in section, showing the mandrel on which the sleeve blank is mounted in the practice of this invention;
- Fig. 18 is a plan view of the rosette of the mandrel used in the practice of this invention;
- Fig. 19 is a diagrammatic view showing the manner in which the sleeving apparatus according to this invention is positioned in the channel head of a steam generator for an insertion operation;
- Fig. 20 is a view predominantly in longitudinal section of the camlock assembly for suspending the sleeving apparatus according to this invention from a tube sheet of a steam generator including a tube to be sleeved;
- Fig. 21 is a fluid circuit diagram for the operation of the camlock assembly shown in Fig. 20;
- Fig. 22 is a fluid circuit diagram for the fixed and moveable gripper; these diagrams being shown together because the grippers are coordinated;
- Fig. 23 is a fluid circuit diagram for the cylinder which drives the moveable gripper; and
- Fig. 24 is a block diagram showing the closed circuit TV units.
- The sleeve-
blank insertion apparatus 31 and some of its components are shown predominantly in Figs. 1 through 12. This apparatus includes a base plate or top plate 33 (Figs. 1-6), abottom plate 35 and aback plate 37 secured between the top and bottom plates. Thebase plate 33 is of generally trapezoidal shape but with the longer side tapered and rounded beyond the tapers. Theback plate 37 is of U-transverse cross-section (Fig. 1) and bolted to thebase plate 33 symmetrically with respect to itscenter line 39 through the parallel sides which divide the base plate into like halves. AROSA adapter 41 is suspended cantilever fashion from theback plate 37 just below thebase plate 33. TheROSA adapter 41 includes aplate 43 to whose lower or inner surface a connector 45 -(Figs. 15, 16) for connecting the sleeve-blank inserter 31 to the ROSA is provided. Theplate 43 is braced bybeams 47. Thecylinders 49 ofcamlock assemblies 51 extend inwardly from the rounded corners near the longer side of thebase plate 33. Thecamlock assemblies 51 are each centered about an opening in thebase plate 33 through which therods 53 carrying the camlock collet 55 (Fig. 20) can be projected upwardly intotubes 57 in the tube sheet 59 (Fig. 2) which are near the damagedtube 61 being sleeved. The camlock assemblies serve to secure the sleeving apparatus to the tube sheet in position to carry out a sleeving operation. - A cylinder 63 (Fig. 3) typically an air cylinder, is secured by a
bolt 65 andnut 67 to thebase plate 33 and supported by abracket 69 bolted to theback plate 37. Abolt 71 suspended from thepiston rod 73 of thecylinder 63 carries a travel plate 75 (Figs. 2, 3).Ball bushings 77 are mounted near the outer ends of thetravel plate 75. The ball bushings 77 engage guide shafts or guiderods 79. As thepiston rod 73 moves upwardly or downwardly, it carries thetravel plate 75 with it. The travel plate is guided and supported by therods 79. Thecylinder 63 is provided with magnetic reed switches 80 and 82 at its upper and lower ends. The piston 84 (Fig. 23) carries paramagnetic elements which operate these switches when the piston moves into the lowermost or uppermost positions (Figs. 3, 23). - The moveable gripper or
gripper assembly 81 is mounted centrally on thetravel plate 75 and is carried with this plate as the plate is moved by thecylinder 63. Thegripper 81 is secured bybolts 83 which are screwed into the bottom of theretainers 85 and 86 (Figs. 7, 8, 8A, 8B) that form the sidewalls of the housing of thegripper 81. Thebolts 83 pass through theflange 87 of a horn-shapedguide 89 securing the guide coaxially with thegripper 31. Theguide 89 facilitates the entrance of the sleeving assembly 91 (Fig. 19) into the opening 93 (Fig. 8) of thegripper 81. The guide is shown in Fig. 2 in the uppermost position in full lines and in the lowermost position in broken lines. Thegripper 81 is omitted in the showing of the lowermost position . The lower part of the insertion apparatus is provided with a protective shield 94 (Figs. 3, 6). - The fixed gripper or
gripper assembly 95 is suspended from an adapter 97 (Figs. 2, 4). Theadapter 97 is connected to or may be integral with a plate 99 which is bolted to the base plate. Thegripper 95 and theadapter 97 havecoaxial openings 101 and 103 (Figs. 2, 4) which are coaxial with opening 93 in themoveable gripper 81 so as to pass thesleeving assembly 91. Theadapter 97 is circularly cylindrical but has a cutout 105 (Fig. 4) to accommodate theoptical system 107 and theviewing angle 109 of the TV camera 111 of the closed-circuit TV unit 112 (Fig. 24) which monitors the insertion of thesleeving assembly 91 into the damagedtube 61. TheTV unit 112 has a monitor 114 (Fig. 24) on which the insertion may be observed. The camera 111 is suspended from thebase plate 33 at an appropriate angle to the base plate by abracket 113 bolted to the base plate and to the camera. Thebase plate 33 has an opening 116 (Fig. 1) through which the insertion of thesleeving assembly 91 is viewed by the camera 111. The upward projection of the opening 103 (Fig. 1), through which thesleeving assembly 91 is passed during a sleeving operation, passes through theopening 113. A light sensor including alight source 115 and photoelectric cell andmicroswitch 117 are mounted onplate 33 on opposite sides of the upward projection of theopening 103. When the mandrel 119 (Fig. 17) is being retracted, the microswitch is actuated when thenose 121 of the mandrel has passed into theopening 103 indicating the status of the mandrel. - The
sleeving apparatus 31 is provided with a second closed-circuit TV unit 131 (Fig. 24). The camera 133 (Figs. 1, 2, 3) of theunit 131 is in acover 135 which is suspended from alug 137, bolted to the upper part of theU-shaped back plate 37. Thecamera 133 is positioned with its optic axis parallel (vertically in use) to theaxis 138 through theopenings camera 133 there is a circular opening 139 (Figs. 1, 24) in thebase plate 35. The sleeving apparatus may be positioned by aligning the optic axis of thecamera 133 with the axis of atube 141 near thetube 61 being sleeved (Fig. 2). Theunit 131 includes a monitor 143 (Fig. 24) connected to thecamera 133. - To level the
sleeving apparatus 31, or set it parallel to the surface of thetube sheet 59, a plurality of plunger assemblies 147 (Figs. 1, 2, 3, 11, 12) are provided. Eachassembly 147 includes aplunger 148. Eachplunger 148 has a flanged stem 149 (Figs. 11, 12) which passes slideably through abushing 151 in thebase plate 33. A taperedtip 153 extends from theflange 155 outwardly from the base plate coaxially with thestem 149. Thestem 149 abuts anarm 157 which carries the slides of alinear potentiometer 158. Thearm 157 and potentiometer are in ahousing 159 suspended from the bottom of thebase plate 33. Thehousing 159 has acap 161 with a central opening through which theplunger 149 extends. Theslider arm 157 of the potentiometer is encircled by ahelical spring 163 which is compressed between the end of theplunger 148 and the top of thepotentiometer 158. The end of theplunger 148 is engaged by a retainingring 165. Thering 165 engages a lip over the opening in thehousing 159 and prevents theplunger 148 from being thrust out of the opening in the housing by thespring 163. Thepotentiometer 158 is carried by aslide 167. Theslide 167 is slideable in a slot between abase member 168 and acooperative member 169, both of which extend from thecap 161. The initial position of thepotentiometer 158 relative to its slides may be set by ascrew 170 extending through the bottom of the container. The screw can be locked in any position by anut 172. Eachplunger assembly 147 hasears 173 by means of which it is bolted to the bottom ofbase plate 33. - The plunger assemblies are mounted with the axis of one passing through the center line 39 (Fig. 1) between the parallel sides of the
base plate 33 and the axes of the other symmetrical with respect to this center line. When the sleeving apparatus is raised by the ROSA 177 (Figs. 13, 14) to the position for sleeve insertion, theplunger tips 153 are engaged by the surface of the tube sheet, as shown in broken lines in Figs. 2 and 3, and depressed. The resistance of the potentiometer, which can be measured with an ohmmeter, varies in accordance with the depression of theplungers 148. By comparing the resistances of thepotentiometer 158, the level of thebase plate 33 can be determined and adjusted. Typically, the potentiometer should be so calibrated that equal resistances for the potentiometer verifies that the base plate is level, i.e., parallel to thetube sheet 59. - A guide tube or conduit 181 (Figs. 2, 3) is mounted on the lower surface of the
bottom plate 35 coaxially with themoveable gripper 81, the fixedgripper 95 and theadapter 97. Theconduit 181 serves for the transmission of thesleeving assembly 91. A plurality ofcord grippers 183 also extend from the lower surface of thebottom plate 35. Thesecord grippers 183 engage the cables and conduits which are connected to thesleeving apparatus 31 while this apparatus is being positioned by theROSA 177 and prevent the fouling or rupture of the conduits and cables. - The connector or coupler 45 (Figs. 3, 15, 16) is a flanged annulus, typically composed of aluminum, having a
flange 191 on one side and a flange-like projection 193 on the opposite side (Figs. 15, 16). Thecoupler 45 is secured to plate 43 of thesleeving apparatus 31 by bolts which pass through theflange 191. The annulus has thickenedsections connector 45 mates with a corresponding connector orcoupler 199 at the end of the ROSA (Fig. 13B). The end surface of thecoupler 199 is shaped to mate with the end surface of thecoupler 45 having projections which penetrate in the regions between theprojections projection 195 carries apin 201 which penetrates into a hole in thecoupler 199 for alignment purposes. Thecoupler 199 is secured to thecoupler 45 by bolts 203 (Fig. 16) which are screwed into steel inserts inprojections 197. Thecoupler 45 also has anaxial projection 205 which penetrates into a groove incoupler 199. After thecouplers projection 193 is tapered to facilitate engagement of thestrap 207 with the projection. - The
moveable gripper 81 and the fixedgripper 95 are basically alike. Only themoveable gripper 81 will be disclosed here. This gripper, which may be more aptly referred to as, gripper assembly includes an enclosure formed by abutting theretainers cage 213 and a bladder 215 (Figs. 7-10). Typically, theretainers retainers retainer 86 and threaded into retainer 86 (Fig. 8A).Retainer 85 has a port 219 (Fig. 8) into which compressed air is injected. Bolted together, theretainers retainers circular grooves 221 are machined near the upper and lower ends and acircular groove 223 is machined at the center (Fig. 8B). Thegroove 223 is in communication with theport 219.Shallow slots 225 are also machined in the top and bottom of the assembly. Annular caps 227 (Fig. 8) are secured to the top and bottom of the assembly 85-86 to form the housing. Thecaps 227 are of angular transverse cross-section with their sides which are parallel to the cylindrical retainer side walls defining inlet and outlet passages. The bolts 87 (Fig. 2) which secure thelower cap 227 to the assembly 85-86 also secures the horn-shapedmember 89. - The cage 213 (Figs. 10, 10A) is composed of precipitation-hardened stainless steel. The cage has
circular rings 231 at the ends and aring 233 at the center.Longitudinal bars 235 are secured to therings - The bladder 215 (Fig. 9) which is the gripping or clamping member of the gripper assembly is composed of a pliable thermoelastometer, typically a pelethane compound. The bladder is of annular shape and has thermoelastomer end rings 237 and
projections 239 near its upper and lower ends. The housing 85-86-227,cage 213 andbladder 215 are assembled into a unit as shown in Fig. 8. Therings 237 are clamped between the top andbottom caps 227 and in theslots 225 of the assembly 85-86. Theprojections 239 are engaged in thegrooves 221 of the assembly. Internally, thebladder 215 extends over thecage 213. Thegroove 223 is between the bladder and the walls of theretainers bladder 215 and the inner walls of theretainers projections 239 and therings 237 are coated internally with a sealing compound before being inserted into thegrooves 221. When asleeving assembly 91 or mandrel 119 (Fig. 17) is to be gripped, the compressed air is injected throughport 219 and flows throughgroove 223 and spreads over thebladder 215 collapsing the bladder onto the sleeving assembly or mandrel gripping the assembly or mandrel. Since the bladder is pliable, it conforms to the gripped surface. - The ROSA 177 (Figs. 13A, 13B, 14A, 14B) includes in addition to the
coupler 199, a plurality ofactuators 245 interconnected byarms 247 which manipulate the arms into the desired positions. Thecoupler 199 is connected to anactuator 245 which facilitates its rotational movement. At the end remote from thecoupler 199, the ROSA has a member having aplate 249 on whichcamlock assemblies 251 are mounted. In use, theROSA 177 is positioned in the channel head 253 (Fig. 19) with itscamlocks 255 in engagement with tubes 257 (Fig. 19) in thetube sheet 59 which are located conveniently with respect to the tube ortubes 61 to be sleeved. - The mandrel 119 (Fig. 17) includes an
end cap 261 to which thenose 121 is connected. A rosette 263 (Fig. 18) is secured to the inner end of the nose. Abladder 265 extends between theend cap 261 and ashank 267 and is sealed pressure tight to both.Additional shanks shank 267 to endow the mandrel with the appropriate length. Anotherbladder 273 extends between theshank 271 and a sleeveblank positioner 275.Bladder 273 is sealed pressure tight in theshank 271 and the sleeve-blank positioner 275. The sleeve-blank positioner is stepped. Thesleeve blank 277 is mounted on the mandrel with the outer end engaging theoutermost step 279 of the sleeve-blank positioner. Thebody 281 of the mandrel is penetrated by ahole 283 which terminates within theend cap 261. Ahose 285 extends from the outer end of the mandrel 119. Atube 289 extends through the hose and is connected pressure tight by a fitting 291 to thehole 283. At its outer end, thetube 289 is connected by a fitting 292 toconnectors tube 289 and through this tube to thehole 283. The fitting (not shown) through which the water is supplied is sealed pressure tight to theconnector 295 by 0-rings 297. Thebody 281 hasopenings 299 at the longitudinal centers of thebladders shanks sleeve blank 277 is fully inserted into the damaged tube 61 (Fig. 2), thebladder 273 is positioned in engagement with the sleeve blank in thetube sheet 59 and thebladder 265 is in engagement with the inner end of the sleeve blank. Water under pressure injected into thehole 283 passes through theopenings 299 exerting pressure on the sleeve blank 277 at the two positions, through thebladders tube 61. - Each camlock assembly 51 (Fig. 20) includes the circularly
cylindrical housing 49. The wall of the housing has alongitudinal slot 305 on one side. The top 307 of thehousing 49 has a shoulder from which a neck or stem 309 extends. There is a circular hole in the top which is coaxial with the hole in the top plate 33 (Figs. 1-3) from which theassembly 51 is suspended. There is abushing 311 in the hole through the top 307.Lower bearing 313 is interposed between the shoulder and the base plate. Adowel pin 315 through thebearing 313 penetrates into the top 307. There is also anupper bearing 317 which is urged outwardly bysprings 319. The springs facilitate adjustment of the position of eachcamlock assembly 51 permitting restricted lateral movement. - The
housing end cap 323 at the lower end is dish-shaped, is supported on aretainer ring 325 just above the lower rim of thewall 349 and is secured by ascrew 327. Theend cap 323 has a circular hole which is coaxial with the hole in the top 307. - Within the
housing 49 there is a composite piston and cylinder assembly includingmain pistons 331 andauxiliary piston 333 andcylinder 335.Cylinder 335 is mounted onmain piston 31 and is moveable therewith.Auxiliary piston 333 is moveable relative tomain piston 331.Cylinder 335 has a top 337 which has a circular hole coaxial with the hole through the top 307 of thehousing 49. Therod 53 which carries thegripper collet 55 at the top has aflange 339 which is bolted to the top 337. Therod 53 is hollow. Arod 341 tapered at the tip 342 extends centrally from theauxiliary cylinder 333 passing through the top 337 and therod 53. - The
main piston 331 is prevented from becoming disengaged from thewall 343 of thecylinder 335 by a retainingring 345. Themain piston 331 engages thewall 343 in ashoulder 347. Thewall 343 has a ring bearing. 349 near its lower end. This bearing is interposed between thewall 343 and thewall 45 of thecamlock assembly 51. O-rings main piston 331 and thewall 343 ofcylinder 335, theauxiliary piston 333 and thewall 343, and therod 341 and thecap 337 of thecylinder 335. - The piston assembly 331-333 is driven by a
cylinder 357. Thepiston rod 359 ofcylinder 357 has a threadedtip 361 which is threaded centrally into themain cylinder 331 and secured by anut 363. The upward (with respect to Fig. 20) thrust of therod 359 advances the piston assembly 331-333. Thepiston 333 is moveable towards and away frompiston 331. The piston 364 (Fig. 21) ofcylinder 357 has a paramagnetic member (not shown). Externally, thecylinder 357 carriesmagnetic reed switches switches piston 364. - The
cylinder 357 is supplied with compressed air to drivepiston 364 upwardly. The compressed air is supplied through aconnector 369 and anipple 371 which are interconnected through anadapter 373. Air is supplied to drivepiston 364 downwardly throughelbow fitting 375. Whenpiston 364 is driven upwardly, air is exhausted from elbow fitting 375 and whenpiston 364 is driven downwardly, air is exhausted fromnipple 371,adapter 373 andconnector 369. - Compressed air to drive
piston 333 upwardly incylinder 335 separately frompiston 331 is supplied through elbow fitting 377 and to returnpiston 333 downwardly throughelbow fitting 379. Whenpiston 333 is driven upwardly, air is exhausted from fitting 379 and whenpiston 333 is driven downwardly, air is exhausted from fitting 377. The fittings are inserted inhousing 49 throughslot 305 and are moveable upwardly and downwardly in this slot. - The operation of the
camlock assemblies 51 will be described with reference to Fig. 21. For controlling the direction and magnitude of the airflow into thecylinders valve 385. Switch 381 controls the flow tocylinder 357, which drives the piston assembly 331-333, through anadjustable regulator 387. Theregulator 387 maintains the pressure incylinder 357 at a low magnitude typically between 15 and 20 psi so that thepiston 364 and the piston assembly 331-335 is advanced slowly intotube 57.Switches cylinder 335 which drivesrod 341 to set the gripper 53 (Fig. 20) in the locked or the unlocked setting. - In standby, the apparatus is set as shown in Fig. 21 with the
pistons valve 385 set to supply air above the pistons. The sleeving apparatus 31 (Figs. 1, 2, 3) is positioned for a sleeving operation into a damagedtube 61 and astart push button 389 is closed.Solenoid switch 381 is set in the left-hand setting and air flows intocylinder 357 belowpiston 364 through theswitch 381, throughconductor 391, andregulator 387. Air is exhausted fromcylinder 357 abovepiston 364 throughconductor 393. At thispoint switch 383 and pressure-actuatedvalve 385 are in their standby settings.Piston 364 is raised and it raises piston assembly 331-333.Piston 364 rises until it actuatesreed switch 365.Switch 383 is set in the right-hand setting. Air flows intovalve 385 throughconductor 395 and out throughconductor 397. When the pressure reaches an appropriate magnitude,pressure switch 399 is actuated,switch 383 is set in the left-hand setting and high pressure is supplied topiston 335, the air flowing in throughconductors conductors 403. Thecollet 55 is operated to lock the camlock totube 57.. Eachcamlock assembly 51 remains in the operated setting with the camlocks locked to their associatedtubes 57. To unlock the camlocks, the above-described procedure is reversed. - The operation of the moveable and fixed grippers or
gripper assemblies gripper solenoid air switch regulators solenoids cylinder 63 is controlled bysolenoid switches adjustable regulators check valves regulator 425 which controls the flow to advance thepiston 84 is typically set at between 50 and 55 psi; theregulator 427 which controls the flow to retract thepiston 84 is set typically at between 60 and 65 psi. The reason the retracted pressure is higher than the insertion pressure is to provide additional force for removing the sleeving assembly if it encounters an obstruction in the tube. - In standby, switches 421 and 423 are set to the left. The
piston 84 is set in the lowermost position with reference to Fig. 3 (to the right with reference to Fig. 23) andmoveable gripper 81 is in the lowermost position.Switches - It is assumed that the
sleeving apparatus 31 has been secured to ROSA 177 (Figs. 11, 12) and has been drawn into thechannel head 253. TheTV units tool 31 is centered with the aid of the closed circuit TV units, particularly unit 131 (Fig. 24). Thecamlock assemblies 51 are inserted and locked. The sleeving assembly 91 (Fig. 19) extends into themoveable gripper 81 in the lowermost position. - The
start push button 419 is actuated. Thecomputer 368 causes switch 411 to be set to the right. Themoveable gripper 81 grips sleeveblank assembly 91. With reference to Fig. 23,switches computer 368. Air flows in throughswitch 423 andconductor 443 and out throughconductor 441 and switch 421 to advance thepiston 84,gripper 81 andsleeving assembly 91. Whenpiston 84 reaches the uppermost position with reference to Fig. 3 (to the right with reference to Fig 23),reed switch 80 is actuated and thecomputer 368 commands switch 413 to move to the right. Air flows throughswitch 413 andconductor 445 causing the fixedgripper 95 to engage thesleeving assembly 91. Shortly thereafter, the computer commands switch 411 to move to the left. The air is exhausted frommoveable gripper 81 and this gripper disengages the sleeving assembly. Then thecomputer 368 commandsswitches piston 84 is returned to the lowermost position (left Fig. 3) carrying themoveable gripper 81 with it. The above steps are then repeated until the sleeve blank is fully inserted intotube 61. Pressure is then applied through nose 289 (Fig. 19) andbladder 265 and to 273 and the sleeving proceeds. - While a preferred embodiment of this invention has been disclosed herein, many modifications thereof are feasible. For example, while this invention is uniquely suitable for the sleeving of tubes of steam generators of nuclear reactors and is intimately interrelated with this purpose, the invention may be applied more generally to the sleeving of tubes in apparatus of other types such as sleeves of tubes in support plates. The invention may also serve to insert other devices into steam generator tubes, such as eddy current and ultrasonic inspection probes which rely on flexible-member insertion techniques. It may also serve in the honing of tubes. Such general use is within the scope of equivalents of this invention. While the air cylinder 63 (Figs. 1, 2, 3) is uniquely suitable for. the practice of this invention inasmuch as the use of commercial voltage (110V) motors is undesirable, there may be situations in which a motor can be used to drive the
moveable gripper 81. This invention is not to be restricted except insofar as is necessitated by the spirit of the prior art.
Claims (7)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US785291 | 1985-10-07 | ||
US06/785,291 US4771526A (en) | 1985-10-07 | 1985-10-07 | Sleeving of steam generators |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0219000A2 true EP0219000A2 (en) | 1987-04-22 |
EP0219000A3 EP0219000A3 (en) | 1988-01-07 |
Family
ID=25135010
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP86113565A Withdrawn EP0219000A3 (en) | 1985-10-07 | 1986-10-02 | Sleeving of steam generators |
Country Status (3)
Country | Link |
---|---|
US (1) | US4771526A (en) |
EP (1) | EP0219000A3 (en) |
JP (1) | JPS62106294A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0276659A2 (en) * | 1987-01-27 | 1988-08-03 | Westinghouse Electric Corporation | Apparatus and method for simultaneously loading a reinforcing sleeve and mandrel into a tube |
EP0341429A1 (en) * | 1988-04-14 | 1989-11-15 | ABB Reaktor GmbH | Device for the introduction of a sleeve into a pipe of a steam generator |
CN106219390A (en) * | 2016-09-26 | 2016-12-14 | 国家电网公司 | Connecting lever tool special for dismounting |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4831720A (en) * | 1988-05-02 | 1989-05-23 | Sherer C Richard | Heat exchange tube insertion tool |
US5029388A (en) * | 1988-12-08 | 1991-07-09 | Westinghouse Electric Corp. | Apparatus and process for sleeving the heat exchanger tubes of nuclear steam generators |
US5015828A (en) * | 1989-07-07 | 1991-05-14 | Westinghouse Electric Corp. | System and method for stress-relief of welds in heat exchanger tubes |
US5907965A (en) * | 1995-05-11 | 1999-06-01 | Siemens Aktiengesellschaft | Device for expanding a tube |
US5680695A (en) * | 1995-06-16 | 1997-10-28 | Vetter; Klaus-Dieter | Hairpin lacing apparatus |
KR101063484B1 (en) * | 2009-08-14 | 2011-09-08 | (주) 코네스코퍼레이션 | Suspended dense storage for storing fuel assemblies |
JP2012042185A (en) | 2010-08-23 | 2012-03-01 | Mitsubishi Heavy Ind Ltd | Clamper, and in-water-chamber operation device |
JP2012040674A (en) * | 2010-08-23 | 2012-03-01 | Mitsubishi Heavy Ind Ltd | Clamper, working device in water chamber, and clamp method |
US8973648B2 (en) | 2012-05-10 | 2015-03-10 | Westinghouse Electric Company Llc | Tubesheet gripping mechanism and method |
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FR2442678A1 (en) * | 1978-11-28 | 1980-06-27 | Finzer Kg Heinz | FEEDING DEVICE FOR DRIVING BASE MATERIAL TO WORK IN METAL MACHINERY |
EP0139494A2 (en) * | 1983-10-03 | 1985-05-02 | Westinghouse Electric Corporation | Sleeving of tubes of steam generator |
EP0194467A2 (en) * | 1985-03-14 | 1986-09-17 | ABB Reaktor GmbH | Device for inserting a sleeve in a tube of a steam boiler |
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US3052494A (en) * | 1959-12-29 | 1962-09-04 | Yale & Towne Mfg Co | Lifting device |
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US3574386A (en) * | 1968-06-17 | 1971-04-13 | James D Frost | Grasping fingers |
DE1956035C3 (en) * | 1969-11-07 | 1978-11-16 | Zinser Textilmaschinen Gmbh, 7333 Ebersbach | Pin-like gripper of a tube gripping device |
US3791011A (en) * | 1972-04-24 | 1974-02-12 | J Keys | Tube pulling device |
US3805359A (en) * | 1972-09-08 | 1974-04-23 | N Webb | Sleeve removing device |
US3857158A (en) * | 1972-12-19 | 1974-12-31 | D Costello | Method and apparatus for removing condenser tubes from surface condensers |
US3892437A (en) * | 1973-02-09 | 1975-07-01 | Finnlines Ltd Oy | Center hoisting device |
DE2315662A1 (en) * | 1973-03-29 | 1974-10-10 | Krupp Gmbh | GRIPPING DEVICE |
US3936089A (en) * | 1973-09-01 | 1976-02-03 | Fried. Krupp Gesellschaft Mit Beschrankter Haftung | Gripping device for a lifting mechanism, especially in a core reactor for depositing and picking up fuel elements and control rods |
US4005896A (en) * | 1974-01-21 | 1977-02-01 | Caterpillar Tractor Co. | Method and apparatus for handling large, fragile objects |
US3915311A (en) * | 1974-01-21 | 1975-10-28 | Caterpillar Tractor Co | Method and apparatus for handling large, fragile objects |
DE2620406B2 (en) * | 1976-05-08 | 1980-04-03 | Gerhard 4600 Dortmund Hindrichs | Assembly device for pushing the tubes into the tube sheet of large heat exchange systems |
US4125928A (en) * | 1977-08-17 | 1978-11-21 | Ohmstede Machine Works, Inc. | Method and apparatus for pulling tubes from heat exchanger baffles |
ES465585A1 (en) * | 1977-12-31 | 1978-09-16 | Science Union & Cie | Gripping means for fuel assemblies of nuclear reactor |
US4173368A (en) * | 1978-05-01 | 1979-11-06 | The Lodge & Shipley Company | Apparatus for frictionally gripping the interior surface of a container during handling by an article transferring means |
US4347652A (en) * | 1978-10-18 | 1982-09-07 | Westinghouse Electric Corp. | Method for servicing a steam generator |
US4277052A (en) * | 1979-08-17 | 1981-07-07 | Franz Kallinger | Jacking apparatus |
US4406856A (en) * | 1980-09-29 | 1983-09-27 | Westinghouse Electric Corp. | Removal of portions of tubes from steam generator of nuclear reactor |
FR2492911A1 (en) * | 1980-10-24 | 1982-04-30 | Petroles Cie Francaise | FRESH HOLDER WITH INFLATABLE ELEMENT |
US4479547A (en) * | 1981-06-01 | 1984-10-30 | Varco International, Inc. | Well pipe jack |
US4586250A (en) * | 1983-10-03 | 1986-05-06 | Westinghouse Electric Corp. | Apparatus for sleeving tubes in hostile environments |
-
1985
- 1985-10-07 US US06/785,291 patent/US4771526A/en not_active Expired - Lifetime
-
1986
- 1986-10-02 EP EP86113565A patent/EP0219000A3/en not_active Withdrawn
- 1986-10-07 JP JP61238998A patent/JPS62106294A/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2442678A1 (en) * | 1978-11-28 | 1980-06-27 | Finzer Kg Heinz | FEEDING DEVICE FOR DRIVING BASE MATERIAL TO WORK IN METAL MACHINERY |
EP0139494A2 (en) * | 1983-10-03 | 1985-05-02 | Westinghouse Electric Corporation | Sleeving of tubes of steam generator |
EP0194467A2 (en) * | 1985-03-14 | 1986-09-17 | ABB Reaktor GmbH | Device for inserting a sleeve in a tube of a steam boiler |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0276659A2 (en) * | 1987-01-27 | 1988-08-03 | Westinghouse Electric Corporation | Apparatus and method for simultaneously loading a reinforcing sleeve and mandrel into a tube |
EP0276659A3 (en) * | 1987-01-27 | 1989-05-17 | Westinghouse Electric Corporation | Apparatus and method for simultaneously loading a reinforcing sleeve and mandrel into a tube |
EP0341429A1 (en) * | 1988-04-14 | 1989-11-15 | ABB Reaktor GmbH | Device for the introduction of a sleeve into a pipe of a steam generator |
CN106219390A (en) * | 2016-09-26 | 2016-12-14 | 国家电网公司 | Connecting lever tool special for dismounting |
Also Published As
Publication number | Publication date |
---|---|
US4771526A (en) | 1988-09-20 |
EP0219000A3 (en) | 1988-01-07 |
JPS62106294A (en) | 1987-05-16 |
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Inventor name: ARZENTI, THOMAS ENRICO Inventor name: PIRL, WILLIAM EDWARD |